Design of Multifunctional Touch and Slip Sensor System Based on PVDF Piezoelectric Film

Abstract

A multi-functional touch slip sensing system is designed based on PVDF piezoelectric film. The piezoelectric sensor converts the pressure signal into electrical signal through piezoelectric effect, and the conditioning circuit further processes the electrical signal. After A/D conversion, the data is transferred to the upper computer to extract the information. In addition, based on the thermoelectric effect of piezoelectric film, the sensor can detect the thermal sensation signal and has the function of self-protection. The piezoelectric sensor adopts bionic fingerprint structure, which has high sensitivity and good flexibility. The conditioning circuit includes amplifying unit, filtering unit, voltage lifting unit and voltage following unit. These units are integrated on the circuit board of 11mm*10mm, which has high integration and easy application. The experiment verifies that manipulator equipped the sensing system can automatically judge tactile, slip and thermal sensation, and can grasp an egg and a paper cup with water, realizing the ability of soft grasping.